Hi Mike
your brake issues could be one of many things in the system but an ABS light is an indication of an electronic problem with in the ABS circuitry ( the system it self has recognized a problem in it's operation) IE a wheel speed sensor failure ,modulator valve failure etc
if you have an ABS lamp on you have an associated trouble code in the computer which will point you in the right direction.
As for the ABS system causing a lack of or no braking this is not likely the fault of the ABS. Most ABS systems shut down when a fault code is logged at any rate the foundation brakes are at the very least not releasing the rear brakes you spoke about S cams so I will assume we are working with drum brakeshere are a few things to check
the vehicle has sat for an extended period of time so we will have to visit the foundation brakes (this is the basic drums ,shoes,S cams ,
brake Chambers and yes the relay and Quick Release valves
with out pulling wheels to check the shoes and drums look closely at the rear backing plates for signs of gear oil from the rear inner axle seals (may have dried up and are possibly leaking onto the shoes and drums
second the brake chamber clevis pins ( where the chamber rods connect to the slack adjuster) will some times seize in the slack adjuster causing the brake to to remain applied the pins should turn freely with the spring brakes released ( remember to block wheels and chassis before going under coach)
Also check the S cam bushings a seize bushing here can cause a brake to drag or not apply as well.
with spring brakes released adjust the slack adjuster to stop the wheel not overly tight but just until the adjuster stops then depending on which type of slack adjusters you have there will be ratchet paul on some that must be released to turn the adjuster bad from the applied position Turn the adjuster back half a turn this is you final adjustment. With this done we can assume your foundation brakes are correct and move on to air operation check your treadle valve they get corroded at the hinge point and can stick in the apply position.
now have someone release the spring brakes and listen for air leaks (bad diaphragm)
if no leaks are head have them apply the service brake and listen again for leaks ( bad service diaphragm)
look at the slack adjusters as the brakes are applied you should get approx one and a half inches of travel and they should the QR valve should release a puff of air as the brakes are released a9 be sure the slack adjusters all return to rest
if these checks are all ok the apply pressures are suspect your system will have relay valves and ABS modulator valves which control individual wheels ( unlikely these are at fault as they is one for each wheel and the odds of two being fault at the same time is remote)
as we work our way back up the system we have relay valves and the treadle valve itself ( which is what modulates apply pressure)
hope some of this rambling is of some use to you
Good luck Eric